Sonia Martínez
Jacobs Faculty Scholar
Professor of Mechanical and Aerospace Engineering
Coverage control with unicycles via hybrid modeling
Andrew Kwok and Sonia MartÃnez
Proceedings of the 2008 American Control Conference
Abstract:
This paper presents a gradient-descent coverage algorithm for a group of nonholonomic vehicles. Similarly to previous approaches, the deployment strategy relies on Locational Optimization techniques to assign Voronoi regions to vehicles. However, in order to deal with unicycle dynamics and guarantee performance, we introduce several vehicle modes; i.e., forward movement, rotation in place and resting. The analysis of the algorithm relies on a recently introduced invariance principle for hybrid systems.
File: main.pdf
Bib-tex entry:
@InProceedings{AK-SM:08-acc,
author = {A. Kwok and S. Mart{\'\i}nez},
booktitle = {2008 American Control Conference},
title = {Coverage control with unicycles via
hybrid modeling},
year = {2008},
pages = {2672-2677},
address = {Seattle, Washington}
}